A novel direction control method for walking support with an omnidirectional walker

Yinlai Jiang, Shuoyu Wang, Kenji Ishida, Takeshi Ando, Masakatsu G. Fujie

    研究成果: Article

    6 引用 (Scopus)

    抄録

    Safe and convenient walking support machines are strongly desired for the people suffering from walking disabilities. We have developed an omnidirectional walker (ODW) for walking support. In walking support, it is necessary to control the ODW following the user’s directional intention. In this paper, a novel interface is proposed to recognise the user’s directional intention according to the forearm pressures. The forearm pressures exerted to the ODW by the user with wrists and elbows are measured by four force sensors embedded in the ODW’s armrest. The relationship between the forearm pressure and the directional intention was extracted as fuzzy rules and an algorithm was proposed for directional intention identification based on distance-type fuzzy reasoning method. We conducted a path tracking experiment with the proposed method. The results show that the algorithm is applicable to control the ODW in walking support.

    元の言語English
    ページ(範囲)244-252
    ページ数9
    ジャーナルInternational Journal of Mechatronics and Automation
    1
    発行部数3-4
    DOI
    出版物ステータスPublished - 2011

    Fingerprint

    Path Tracking
    Force Sensor
    Fuzzy Reasoning
    Disability
    Fuzzy rules
    Fuzzy Rules
    Necessary
    Sensors
    Experiment
    Experiments
    Relationships

    ASJC Scopus subject areas

    • Artificial Intelligence
    • Control and Systems Engineering
    • Electrical and Electronic Engineering
    • Industrial and Manufacturing Engineering
    • Computational Mathematics
    • Computational Mechanics

    これを引用

    A novel direction control method for walking support with an omnidirectional walker. / Jiang, Yinlai; Wang, Shuoyu; Ishida, Kenji; Ando, Takeshi; Fujie, Masakatsu G.

    :: International Journal of Mechatronics and Automation, 巻 1, 番号 3-4, 2011, p. 244-252.

    研究成果: Article

    Jiang, Yinlai ; Wang, Shuoyu ; Ishida, Kenji ; Ando, Takeshi ; Fujie, Masakatsu G. / A novel direction control method for walking support with an omnidirectional walker. :: International Journal of Mechatronics and Automation. 2011 ; 巻 1, 番号 3-4. pp. 244-252.
    @article{738f40bd1d824559a82affa79f0f11fe,
    title = "A novel direction control method for walking support with an omnidirectional walker",
    abstract = "Safe and convenient walking support machines are strongly desired for the people suffering from walking disabilities. We have developed an omnidirectional walker (ODW) for walking support. In walking support, it is necessary to control the ODW following the user’s directional intention. In this paper, a novel interface is proposed to recognise the user’s directional intention according to the forearm pressures. The forearm pressures exerted to the ODW by the user with wrists and elbows are measured by four force sensors embedded in the ODW’s armrest. The relationship between the forearm pressure and the directional intention was extracted as fuzzy rules and an algorithm was proposed for directional intention identification based on distance-type fuzzy reasoning method. We conducted a path tracking experiment with the proposed method. The results show that the algorithm is applicable to control the ODW in walking support.",
    keywords = "directional intention identification, distance-type fuzzy reasoning method, human robot interaction, ODW, omnidirectional walker, walking support",
    author = "Yinlai Jiang and Shuoyu Wang and Kenji Ishida and Takeshi Ando and Fujie, {Masakatsu G.}",
    year = "2011",
    doi = "10.1504/IJMA.2011.045257",
    language = "English",
    volume = "1",
    pages = "244--252",
    journal = "International Journal of Mechatronics and Automation",
    issn = "2045-1059",
    publisher = "Inderscience Publishers",
    number = "3-4",

    }

    TY - JOUR

    T1 - A novel direction control method for walking support with an omnidirectional walker

    AU - Jiang, Yinlai

    AU - Wang, Shuoyu

    AU - Ishida, Kenji

    AU - Ando, Takeshi

    AU - Fujie, Masakatsu G.

    PY - 2011

    Y1 - 2011

    N2 - Safe and convenient walking support machines are strongly desired for the people suffering from walking disabilities. We have developed an omnidirectional walker (ODW) for walking support. In walking support, it is necessary to control the ODW following the user’s directional intention. In this paper, a novel interface is proposed to recognise the user’s directional intention according to the forearm pressures. The forearm pressures exerted to the ODW by the user with wrists and elbows are measured by four force sensors embedded in the ODW’s armrest. The relationship between the forearm pressure and the directional intention was extracted as fuzzy rules and an algorithm was proposed for directional intention identification based on distance-type fuzzy reasoning method. We conducted a path tracking experiment with the proposed method. The results show that the algorithm is applicable to control the ODW in walking support.

    AB - Safe and convenient walking support machines are strongly desired for the people suffering from walking disabilities. We have developed an omnidirectional walker (ODW) for walking support. In walking support, it is necessary to control the ODW following the user’s directional intention. In this paper, a novel interface is proposed to recognise the user’s directional intention according to the forearm pressures. The forearm pressures exerted to the ODW by the user with wrists and elbows are measured by four force sensors embedded in the ODW’s armrest. The relationship between the forearm pressure and the directional intention was extracted as fuzzy rules and an algorithm was proposed for directional intention identification based on distance-type fuzzy reasoning method. We conducted a path tracking experiment with the proposed method. The results show that the algorithm is applicable to control the ODW in walking support.

    KW - directional intention identification

    KW - distance-type fuzzy reasoning method

    KW - human robot interaction

    KW - ODW

    KW - omnidirectional walker

    KW - walking support

    UR - http://www.scopus.com/inward/record.url?scp=84876475395&partnerID=8YFLogxK

    UR - http://www.scopus.com/inward/citedby.url?scp=84876475395&partnerID=8YFLogxK

    U2 - 10.1504/IJMA.2011.045257

    DO - 10.1504/IJMA.2011.045257

    M3 - Article

    AN - SCOPUS:84876475395

    VL - 1

    SP - 244

    EP - 252

    JO - International Journal of Mechatronics and Automation

    JF - International Journal of Mechatronics and Automation

    SN - 2045-1059

    IS - 3-4

    ER -